Welcome to Team Tejas's CanSat Competition project repository! We are developing a comprehensive satellite system for the American Society for Aerospace Engineers (ASAE) CanSat Competition.

Our CanSat mission involves deploying a satellite system that performs atmospheric data collection, GPS tracking, and controlled descent with dual-parachute deployment. The system features active stabilization using reaction wheels and real-time telemetry transmission to a ground station.

• Platform: Teensy 4.1 microcontroller
• Real-time data acquisition from multiple sensors
• Autonomous flight state management with 9 distinct phases
• Active attitude stabilization using reaction wheels with PID control
• Dual-parachute deployment system (primary at apogee, secondary at 500m)
• XBee wireless telemetry at 1Hz minimum transmission rate
• SD card data logging for flight data recovery

• Real-time telemetry reception and visualization via XCTU
• Mission control interface with command capabilities
• XBee point-to-point communication with API mode
• Flight state monitoring and emergency controls
• Post-flight data analysis and reporting

• ✅ 9 Flight States: Boot → Test → Launch Pad → Ascent → Rocket Deploy → Descent → Secondary Deploy → Final Descent → Impact
• ✅ Active Stabilization: Reaction wheel system with PID control and auto-tuning
• ✅ Dual Parachute System: Autonomous primary deployment, controlled secondary deployment
• ✅ Real-time Telemetry: 1Hz minimum data transmission with ground station commands
• ✅ Data Logging: SD card storage meeting competition requirements
• ✅ Safety Systems: Watchdog timers, emergency stops, fail-safe mechanisms
• ✅ Modular Architecture: Clean separation of sensor modules and flight controller

• Requirement 8: SD card data storage ✅
• Requirement 22: Primary descent rate 20 m/s ±5 m/s ✅
• Requirement 23: Secondary descent rate 1-3 m/s ✅
• Requirement 31: Ground station telemetry control ✅
• Requirement 34: Start/stop telemetry commands ✅
• Requirement 35: Remote sensor calibration ✅
• Requirement 41: Flight state identification ✅
• Requirement 42: 1Hz minimum telemetry rate ✅

• PlatformIO for embedded development
• Visual Studio Code with PlatformIO extension
• Teensy 4.1 board with required sensors
• XCTU for XBee configuration

git clone https://github.com/cansat-team-tejas/flight-software.git
cd team-tejas
# Open in VS Code with PlatformIO extension
# Build and upload to Teensy 4.1
platformio run --target upload

Use XCTU to configure XBee modules:

CanSat XBee (End Device):

ID (PAN ID): 1234
CE (Coordinator Enable): 0
JV (Channel Verification): 1
DH (Dest Address High): [GCS XBee SH]
DL (Dest Address Low): [GCS XBee SL]
AP (API Enable): 1 (API Mode)
BD (Baud Rate): 3 (9600)

Ground Station XBee (Coordinator):

ID (PAN ID): 1234
CE (Coordinator Enable): 1
JV (Channel Verification): 1
DH (Dest Address High): [CanSat XBee SH]
DL (Dest Address Low): [CanSat XBee SL]
AP (API Enable): 1 (API Mode)
BD (Baud Rate): 3 (9600)

TEAM_ID,MISSION_TIME,PACKET_COUNT,ALTITUDE,PRESSURE,TEMP,VOLTAGE,
GPS_TIME,GPS_LAT,GPS_LON,GPS_ALT,GPS_SATS,ACCEL_X,ACCEL_Y,ACCEL_Z,
GYRO_X,GYRO_Y,GYRO_Z,ROLL,PITCH,YAW,GYRO_SPIN_RATE,FLIGHT_STATE,
ROLL_WHEEL_OUTPUT,PITCH_WHEEL_OUTPUT,STAB_STATUS,CURRENT,POWER

48-byte binary packets converted to 96-character hex strings for efficient transmission.

• BINARY_MODE_ON - Switch to binary telemetry
• BINARY_MODE_OFF - Switch to CSV telemetry
• SET_GYRO_BIAS - Calibrate gyroscope
• ARM_SYSTEM - Arm reaction wheel system
• DISARM_SYSTEM - Disarm reaction wheel system
• REQ_STATUS - Request current status

team-tejas-cansat/
├── lib/
│   ├── air_quality/          # MQ135 air quality sensor
│   ├── communication/        # XBee communication module
│   ├── constants/           # System-wide constants
│   ├── environment/         # BME280 environmental sensor
│   ├── flight_controller/   # Main flight state machine
│   ├── gps/                # GPS module interface
│   ├── imu/                # MPU6050 IMU integration
│   ├── log/                # Logging system
│   ├── parachute/          # Servo parachute deployment
│   ├── power_monitor/      # INA226 power monitoring
│   ├── reaction_wheels/    # Active stabilization system
│   ├── storage/            # SD card logging
│   └── telemetry/          # Telemetry data management
├── src/
│   └── main.cpp            # Main application entry point
├── platformio.ini          # PlatformIO configuration
├── WIRING_DIAGRAM.md       # Hardware connections
├── IMPLEMENTATION_SUMMARY.md # Technical details
└── CLEANUP_SUMMARY.md      # Code optimization notes

Team Lead: Sagar Gujarathi (@sagargujarathi)

• Flight Software Team: Embedded systems development and sensor integration
• Ground Station Team: Mission control and telemetry visualization
• Hardware Integration Team: PCB design and system integration
• Mission Operations Team: Flight planning and test execution

• Individual sensor modules completed
• Flight state machine implemented
• Reaction wheel stabilization system
• XBee communication protocol (API mode)
• Modular flight controller architecture
• SD card logging system
• Telemetry data formatting (CSV & Binary)
• Ground station communication
• Full system integration testing
• Flight qualification testing
• Competition readiness verification

• Modular Architecture: Created dedicated FlightController module
• Memory Optimization: Removed unused libraries and constants
• Clean Codebase: Eliminated redundant code and improved consistency
• XBee Integration: Point-to-point API mode communication
• Telemetry Enhancement: Dual-format data transmission

class FlightController {
    bool validateStateTransition(uint8_t current, uint8_t next);
    void updateFlightState();
    void handleEmergencyConditions();
    // Full state management with safety checks
};

• CSV Format: Human-readable competition standard
• Binary Format: Efficient 48-byte packets with hex encoding
• Queue Management: Buffered transmission with overflow protection
• Dual Mode: Switchable between formats via ground commands

• Point-to-Point: Direct addressing, no broadcast
• API Mode: Frame-based communication with delivery confirmation
• Bidirectional: Command reception and telemetry transmission
• Error Handling: TX status monitoring and retry mechanisms

• Wiring Diagram - Complete hardware connections
• Implementation Summary - Technical details
• Cleanup Summary - Code optimization notes
• Hardware integration guides and test procedures

We welcome contributions from team members and collaborators:

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a Pull Request

• Follow modular architecture patterns
• Include comprehensive error handling
• Add appropriate logging for debugging
• Test individual modules before integration
• Document hardware connections and configurations

Latest Build Status: ✅ SUCCESS

• Memory Usage: FLASH: 149KB, RAM1: 175KB, RAM2: 12KB
• Available Memory: FLASH: 7.9MB free, RAM1: 332KB free, RAM2: 511KB free
• Platform: Teensy 4.1 (600MHz ARM Cortex-M7)
• Framework: Arduino with PlatformIO

This project is licensed under the MIT License - see the LICENSE file for details.

For technical support or questions:

• Create an issue in this repository
• Contact: @sagargujarathi
• Check documentation for troubleshooting guides

• Deploy and operate a CanSat system meeting all competition requirements
• Demonstrate autonomous flight state management
• Achieve reliable telemetry transmission throughout flight
• Recover flight data for post-mission analysis

• Validate reaction wheel stabilization system
• Test dual-parachute deployment mechanism
• Demonstrate real-time ground station control
• Achieve competition-compliant descent rates

Team Tejas | CanSat Competition 2025 | Engineering Excellence in Aerospace 🚀

Repository: github.com/sagargujarathi/team-tejas | Branch: feature/optimizations